Nonlinear adaptive sliding-mode control design for two-wheeled human transportation vehicle

This paper presents adaptive sliding-mode control methods for self-balancing and yaw rate control of a dynamically two-wheeled human transportation vehicle (HTV) with mass variations and system uncertainties. The proposed controllers aim to provide consistent driving performance for system uncertainties and different drivers whose weights cause parameter variations of the HTV. By decomposing the overall system into the yaw subsystems and the self-balancing subsystems with parameters variations with respect to different riders, two adaptive sliding mode controls are proposed to achieve self-balancing and yaw control. Numerical simulations and experimental results on different terrains show that the proposed adaptive sliding mode controllers are capable of achieving satisfactory control actions to steer the vehicle.